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A Learning-based Control Framework for Fast and Accurate Manipulation of a Flexible Object

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Journal of Bionic Engineering 2024年第4期21卷 1761-1774页

作者： Junyi Wang Xiaofeng Xiong Silvia Tolu Stanislav n.Gorb Department of Electrical and photonics Engineering Technical University of DenmarkAnker Engelunds Vej 101Kongens LyngbyZealand2800Denmark SDU Biorobotics Mærsk Mc-Kinney Møller InstituteUniversity of Southern Denmark(SDU)Campusvej 55Odense MFunen5230Denmark Department Functional Morphology and Biomechanics Zoological InstituteUniversity of KielAm Botanischen Garten 1–9D-24118KielSchleswig-HolsteinGermany

This paper presents a learning-based control framework for fast(3 times of others).Besides,motion tracking errors are greatly reduced to 13.29 and 22.36 of constant impedance control by the OIAC of the proposed *** ad... 详细信息

This paper presents a learning-based control framework for fast(nd accurate manipulation of a flexible object,i.e.,whip *** framework consists of a motion planner learned or optimized by an algorithm,Online Impedance Adaptation Control(OIAC),a sim2real mechanism,and a visual feedback *** experimental results show that a soft actor-critic algorithm outperforms three Deep Reinforcement Learning(DRL),a nonlinear optimization,and a genetic algorithm in learning generalization of motion *** can greatly reduce average learning trials(tond maximize average rewards(to>3 times of others).Besides,motion tracking errors are greatly reduced to 13.29 and 22.36 of constant impedance control by the OIAC of the proposed *** addition,the trajectory similarity between simulated and physical whips is *** presented framework provides a new method integrating data-driven and physics-based algorithms for controlling fast and accurate arm manipulation of a flexible object.

关键词： Deep reinforcement learning Deformable object manipulation Variable impedance control Sim2real Visual tracking

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Genes & Diseases 2024年第3期11卷 66-68页

作者： Aswathi n Jincy M.Jose Sreelata B.nair prabha S.n pappachan S Department of Medical Genetics Lifeline Super Specialty HospitalPathanamthittaKerala 691523India Lifeline Super Specialty Hospital PathanamthittaKerala 691523India

Alagille syndrome(ALGS;OMIM#118450)is a highlyvariable,multi-systemic,autosomal dominant disorder,caused by mutations in the Jagged Canonical notch Ligand 1(JAG1)gene(20p12.2)or in the neurogenic locus notch homolog protein 2(nOTCH2)gene(1p13).^(1)It primarily affects the liver,heart,eyes,face,kidney,skin,vertebrae,and skeleton.^(1,2)The JAG1 gene has 26 exons and about 90%of the ALGS cases result from pathogenic variants in the JAG1 and around 7%of cases have deletions in chromosome 20 that include this gene.

关键词： JAG1 cases notch

Two-dimensional magnetic materials for spintronic applications

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nano Research 2024年第2期17卷 743-762页

作者： Shivam n.Kajale Jad Hanna Kyuho Jang Deblina Sarkar MIT Media Lab Massachusetts Institute of TechnologyCambridgeMA 02139USA Department of Information Technology and Electrical Engineering ETH ZürichZürich8092Switzerland

Spintronic devices are driving new paradigms of bio-inspired,energy efficient computation like neuromorphic stochastic computing and in-memory *** have also emerged as key candidates for non-volatile memories for embedded systems as well as alternatives to persistent *** meet the growing demands from such diverse applications,there is need for innovation in materials and device designs which can be scaled and adapted according to the ***-dimensional(2D)magnetic materials address challenges facing bulk magnet systems by offering scalability while maintaining device integrity and allowing efficient control of *** this review,we highlight the progress made in experimental studies on 2D magnetic materials towards their integration into spintronic *** provide an account of the various relevant material discoveries,demonstrations of current and voltage-based control of magnetism and reported device systems,while also discussing the challenges and opportunities towards integration of 2D magnetic materials in commercial spintronic devices.

关键词： spintronics van der Waals magnetic tunnel junction(MTJ) spin-orbit torque magnetism

Effect of cold-working on corrosion induced damage in lug joints

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Defence Technology（防务技术） 2024年第6期36卷 175-182页

作者： Ramanath M.n Chikmath L. Murthy H. Department of Aerospace Engineering Indian Institute of Technology-MadrasChennai 600036India Department of Aeronautical Engineering KLS Gogte Institute of TechnologyBelagavi 590008India

Lug joints are preferred joineries for transferring heavy loads to parent components in aerospace *** experience corrosion due to environmental conditions,improper surface finishes and rubbing displacement between the pin and *** causes damage of different sizes and shapes near the *** degradation due to corrosion-induced damage is modelled as a through-pit at one of the identified critical locations through stress *** effect of this pit on fatigue crack initiation life is ***-hole is pre-stressed by cold-working and the benefits of inducing plastic wake on the intended performance of the lug joint during the damages due to corrosion are brought out and compared with non-cold-worked *** analysis is performed on this lug joint with *** results obtained highlight the benefits of cold-working and the methodology can be extended to damage growth and analyse the effect of surface treatments for better structural integrity of components of aerospace vehicles.

关键词： Lug joint Corrosion Crack initiation Cold-working Structural integrity

Symmetry quantification and segmentation in STEM imaging through Zernike moments

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Chinese physics B 2024年第8期33卷 39-48页

作者： Jiadong Dan Cheng Zhang 赵晓续 n.Duane Loh Department of Biological Sciences National University of SingaporeSingapore Center for Bioimaging Sciences(CBIS) National University of SingaporeSingapore Department of physics National University of SingaporeSingapore School of Materials Science and Engineering Peking UniversityBeijing 100871China

We present a method using Zernike moments for quantifying rotational and reflectional symmetries in scanning transmission electron microscopy(STEM)images,aimed at improving structural analysis of materials at the atomic *** technique is effective against common imaging noises and is potentially suited for low-dose imaging and identifying quantum *** showcase its utility in the unsupervised segmentation of polytypes in a twisted bilayer TaS_(2),enabling accurate differentiation of structural phases and monitoring transitions caused by electron beam *** approach enhances the analysis of structural variations in crystalline materials,marking a notable advancement in the characterization of structures in materials science.

关键词： scanning transmission electron microscopy(STEM) symmetry segmentation

presynaptic endoplasmic reticulum architecture and hereditary spastic paraplegia

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neural Regeneration Research 2024年第3期19卷 485-486页

作者： Juan Josépérez-Moreno Instituto de Biomedicina de Sevilla(IBiS) Hospital Universitario Virgen Del Rocío/CSIC/Universidad de Sevillaand Departamento de Biología CelularFacultad de BiologíaUniversidad de SevillaSevilleSpain

Hereditary spastic paraplegia(HSp)is a clinically and genetically heterogeneous neurodegenerative disorder,characterized primarily by progressive spasticity and weakness in the lower *** ients can also experience peripheral neuropathy,cognitive impairment,and other neurological *** date,more than 80 genes have been implicated in HSp,encompassing various cellular components,although mutations in genes encoding endoplasmic reticulum(ER)-shaping proteins are the most prevalent(parodi et al.,2017).ER-shaping proteins are generally known for regulating the tubulation and curvation of the ER,but most of them show additional functions,including fusion of ER tubules,microtubule-severing,ER autophagy,lipid droplet synthesis,contact sites with other organelles(Öztürk et al.,2020).This highlights the complexity of studying the role of these proteins and the link between ER function and HSp.

关键词： reticulum endoplasmic

Comparison of mismatch repair and immune checkpoint protein profile with histopathological parameters in pancreatic,periampullary/ampullary,and choledochal adenocarcinomas

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World Journal of Gastrointestinal Oncology 2024年第3期16卷 875-882页

作者： Arzu Hazal Aydın nesrin Turhan Department of pathology Aksaray University Aksaray Training and Research HospitalAksaray 68200Turkey Department of pathology University of Health Sciences Ankara City HospitalAnkara 06800Turkey

BACKGROUnD pancreatic,periampullary/ampullary,and choledochal adenocarcinomas are aggressive malignancies with a poor *** checkpoint blockade is a promising treatment option for several tumor types.H long terminal repeatassociating 2(HHLA2),which is analogous to programmed death-ligand 1(pDL1),is a recently discovered member of the B7/cluster of differentiation 28 family and is expressed in many *** To analyze the expression of HHLA2 and its association with the pathologic biomarkers that predict sensitivity to *** ninety-two adenocarcinoma cases located in the pancreas,ampulla,and distal common bile duct were *** study assessed 106 pancreaticoduodenectomy and distal/total pancreatectomy samples that were delivered to Ankara City Hospital between 2019 and *** was conducted to examine the expression of DnA mismatch repair(MMR),pD-L1,and HHLA2 *** patients with high HHLA2 expression had a higher mean age than those with low *** HHLA2 expression was associated with high perineural ***2 expression was low in pathological stage T3(pT)3 cases and high in pathological stage T1,T2,and T4 *** was no correlation between HHLA2 expression and the expression of MMR proteins and *** Evaluation of HHLA2 expression in microsatellite stable and pD-L1-negative tumors may be useful for predicting the response of individuals to immunotherapy and may serve as a novel therapeutic target for immunotherapy in advanced-stage disease.

关键词： H long terminal repeat-associating 2 programmed death-ligand 1 Adenocarcinoma pancreas Ampulla of Vater Distal common bile duct

Metal-modulated epitaxy of Mg-doped Al_(0.80)In_(0.20)n-based layer for application as the electron blocking layer in deep ultraviolet light-emitting diodes

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Journal of Semiconductors 2024年第5期45卷 80-89页

作者： Horacio Irán Solís-Cisneros Carlos Alberto Hernández-Gutiérrez Enrique Campos-González Máximo López-López Optomechatronics Group Tecnológico Nacional de México Campus Tuxtla Gutiérrezcarretera Panamericana 1080C.P.29050Tuxtla GutiérrezChiapasMéxico Departamento de Física Instituto Nacional de Investigaciones NuclearesCarretera México-Toluca s/nC.P.52750La Marquesa OcoyoacacMéxico Departamento de Física Centro de Investigación y estudios Avanzados del Instituto Politécnico NacionalAv.Instituto Politécnico Nacional 2508San Pedro ZacatencoGustavo A.Madero07360 Ciudad de MéxicoCDMXMéxico

This work reports the growth and characterization of p-AlInn layers doped with Mg by plasma-assisted molecular beam epitaxy(pAMBE).AlInn was grown with an Al molar fraction of 0.80 by metal-modulated epitaxy(MME)with a thickness of 180 nm on Si(111)substrates using Aln as buffer *** substrate temperatures were used to enhance the incorporation of indium atoms into the alloy without clustering,as confirmed by X-ray diffraction(XRD).Cathodoluminescence measurements revealed ultraviolet(UV)range ***,Hall effect measurements indicated a maximum hole mobility of 146 cm^(2)/(V∙s),corresponding to a free hole concentration of 1.23×10^(19)cm^(−3).The samples were analyzed by X-ray photoelectron spectroscopy(XpS)estimating the alloy composition and extracting the Fermi level by valence band ***-doped AlInn layers were studied for use as the electron-blocking layer(EBL)in LED *** varied the Al composition in the EBL from 0.84 to 0.96 molar fraction to assess its theoretical effects on electroluminescence,carrier concentration,and electric field,using SILVACO *** results from this study highlight the importance and capability of producing high-quality Mg-doped p-AlInn layers through *** simulations suggest that an Al content of 0.86 is optimal for achieving desired outcomes in electroluminescence,carrier concentration,and electric field.

关键词： metal-modulated epitaxy AlInn DUV-LED EBL simulation

Investigating Stability properties for Transition Metal Carbonate precursors Using Universal Cluster Expansion Technique(UnCLE)as Cathodes for Li-Ion Batteries

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材料科学与工程（中英文A版） 2024年第1期14卷 26-33页

作者： Mogahabo Tebogo Morukuladi n.L.Lethole M.C.Masedi n.n.ngoepe p.E.ngoepe Materials Modelling Centre University of LimpopoPrivate Bag x1106Sovenga 0727South Africa Department of physics University of Fort HareAlice 5700South Africa

The universal cluster expansion technique was used in this study to determine the binary phase diagrams for the transition metal carbonate precursors MCO3(M:Mn,ni,Co).The use of mixed cathode materials in lithium-ion batteries such as nMC(ni,Mn and Co)formulations,is a strategic approach to optimize performance,enhance safety and address cost and environmental considerations in the rapidly evolving field of energy *** study focuses on the cost issue related to lithium ion batteries by investigating the manganese rich nMC since manganese is more abundant and *** doped MnCO3 with nickel and doped MnCO3 with cobalt then ran cluster expansion calculations to generate binary *** binary phase diagrams generated indicated that doping MnCO3 with nickel favours the Mn-rich side,while doping MnCO3 with cobalt favours 50%Mn-rich and 50%*** further extracted the most stable structures from both binary diagrams and determined their electronic,mechanical and vibrational stabilities using DFT(density functional theory)calculations within the LDA(local gradient approximation)with Hubbard parameter(U).The electronic properties revealed that both materials are semiconductors due to their narrow energy band gap obtained while the mechanical properties showed that structures are mechanically stable since their necessary conditions for trigonal and triclinic systems were satisfied.

关键词： Binary phase diagrams mechanical properties electronic conductivity phonon dispersion curves.